CN109630650B - Extraction element suitable for power-assisted manipulator - Google Patents
Extraction element suitable for power-assisted manipulator Download PDFInfo
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- CN109630650B CN109630650B CN201910067109.XA CN201910067109A CN109630650B CN 109630650 B CN109630650 B CN 109630650B CN 201910067109 A CN201910067109 A CN 201910067109A CN 109630650 B CN109630650 B CN 109630650B
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- wedge
- piston
- rod
- telescopic rod
- shaped surface
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
Abstract
The invention discloses an extraction device suitable for a power-assisted manipulator, which comprises a pressure rod, a button, a piston, a return spring, a locking slide rod, a cam shaft, a shell, a positioning ring, a limiting spring, a rotating rod, a telescopic rod, a bottom cover and a horizontal spring. The invention has compact integral structure, adopts mechanical structure, has low cost and is convenient for maintaining and replacing parts; the intermittent rotating mechanism and the transmission mechanism are accurate and reliable in transmission, the button is pressed once, the cam shaft rotates 90 degrees, the rotating rod and the telescopic rod interact after rotating for a certain angle to drive the telescopic rod to rotate, the button is pressed again, the cam shaft rotates 90 degrees, the rotating rod and the telescopic rod are separated from an interaction state after rotating for a certain angle, and the telescopic rod rotates back to the initial position under the action of the spring to realize radial intermittent extension.
Description
Technical Field
The invention belongs to the field of clamps, and particularly relates to an extraction device suitable for a power-assisted manipulator.
Background
Nowadays, the sustainable development of all industries is fully advocated, and the mechanical manufacturing technology is more and more developed towards intellectualization. In industrial manufacturing, the development of intelligent lifting equipment is particularly rapid. Intelligent lifting means mainly used realizes functions such as transport material, helping hand. At present, various intelligent lifting devices are invented, but specific clamps are needed at the tail ends of the intelligent lifting devices to realize corresponding functions.
Disclosure of Invention
The invention aims to provide an extraction device suitable for a power-assisted manipulator, which can be used for carrying materials with circular through holes efficiently and in a labor-saving manner.
The technical scheme adopted by the invention for solving the technical problems is as follows: an extraction device suitable for a power-assisted manipulator comprises a pressure lever, a button, a piston, a return spring, a locking slide bar, a cam shaft, a shell, a positioning ring, a limiting spring, a rotating rod, a telescopic rod, a bottom cover and a horizontal spring;
the button is sleeved outside the shell and can slide up and down along the outer wall surface of the shell;
the upper end of the pressure lever is fixed on the button; the lower end of the pressure lever is contacted with the piston;
the locking slide bar is arranged in the shell and fixed on the inner side wall of the shell, an upper flange is formed at the upper end of the piston, one end of the return spring is propped against the upper end of the locking slide bar, and the other end of the return spring is propped against the upper flange;
the lower end of the piston is positioned in the locking slide rod, a blind hole is formed, and the upper end of the cam shaft is inserted into the blind hole at the lower end of the piston;
the lower end of the piston is provided with a first upper wedge-shaped surface and a second upper wedge-shaped surface, the inclination directions of the first upper wedge-shaped surface and the second upper wedge-shaped surface are the same, and the first upper wedge-shaped surface and the second upper wedge-shaped surface are centrosymmetric about the axis of the piston; the first upper wedge-shaped surface and the second upper wedge-shaped surface are connected end to end, and the angle from the starting point to the end point is 180 degrees; two strip-shaped grooves are formed in the side wall of the piston along the axial direction of the piston, wherein the two strip-shaped grooves correspond to the positions of the first upper wedge-shaped surface and the second upper wedge-shaped surface respectively, and the two strip-shaped grooves are centrosymmetric with respect to the axis of the piston;
a clamping block is formed on the inner wall of the locking slide rod; the clamping block is matched with the strip-shaped groove; the lower surface of the fixture block is a wedge-shaped surface, and the inclination direction of the fixture block is the same as that of the first upper wedge-shaped surface;
two clamping grooves are formed in the side wall of the cam shaft and matched with the clamping blocks; the two clamping grooves are arranged in a central symmetry manner, the two clamping grooves divide the side wall of the camshaft into two lower teeth, and the two lower teeth are respectively matched with the first upper wedge-shaped surface and the second upper wedge-shaped surface;
a first lower wedge-shaped surface and a second lower wedge-shaped surface are formed at the upper end of the lower tooth; said first lower wedge surface and said second lower wedge surface having the same direction of rotation and the highest points of said first lower wedge surface and said second lower wedge surface being in the same horizontal plane, the lowest point of said first lower wedge surface being higher than the lowest point of said second lower wedge surface and the length of said first lower wedge surface being greater than said second lower wedge surface,
the upper end of the positioning ring is fixed at the lower end of the locking slide rod, the diameter of the lower end of the positioning ring is gradually reduced, the lower end of the camshaft penetrates through the lower end of the positioning ring and is positioned outside the positioning ring, one end of the limiting spring is fixed on the positioning ring, and the other end of the limiting spring is propped against a shaft shoulder of the camshaft and is sleeved on the camshaft;
a rotating rod is fixed at the lower end of the cam shaft, the middle part of the rotating rod is fixed on the cam shaft and is perpendicular to the cam shaft, and two ends of the rotating rod are provided with shifting forks which are arranged along the direction parallel to the axis of the cam shaft;
the bottom cover is fixed at the lower end of the shell, the telescopic rod is in a V shape, the bending part of the telescopic rod is hinged to the bottom cover through a hinged shaft, one end of the telescopic rod is fixed with one end of a horizontal spring, and the other end of the horizontal spring is fixed on the inner wall of the shell;
the shifting fork of the rotating rod is matched with one end of the telescopic rod, and the telescopic rod is driven to rotate when the rotating rod rotates;
a notch is formed at the bottom end of the outer shell, and when the telescopic rod rotates, the other end of the telescopic rod penetrates through the notch and is positioned outside the outer shell; or from the outside of the housing.
Optionally, an inner flange is formed at the upper end of the housing in an inward extending manner, and the upper end of the piston is limited by the inner flange; the lower end of the pressure lever penetrates through the inner flange and is in contact with the piston to drive the piston to move up and down.
Optionally, an angle of the first lower wedge-shaped surface from the starting point to the end point is 90 °, an angle of the second lower wedge-shaped surface from the starting point to the end point is 45 °, and an angle of the slot from the starting point to the end point is 45 °, so that the first lower wedge-shaped surface, the second lower wedge-shaped surface and the slot together form 180 °.
Optionally, the number of the telescopic rods is two, and the two telescopic rods are symmetrically arranged along a plane passing through the central axis of the bottom cover.
Optionally, the number of the notches is two, and the notches are arranged corresponding to the position of the other end of the telescopic rod.
The invention has the following beneficial effects:
1. the invention mainly comprises an intermittent rotating mechanism and a transmission mechanism, has compact integral structure, adopts a mechanical structure, has low cost and is convenient for maintaining and replacing parts;
2. the intermittent rotating mechanism and the transmission mechanism are accurate and reliable in transmission, the button is pressed once, the cam shaft rotates 90 degrees, the rotating rod and the telescopic rod interact after rotating for a certain angle to drive the telescopic rod to rotate, the button is pressed again, the cam shaft rotates 90 degrees, the rotating rod and the telescopic rod are separated from an interaction state after rotating for a certain angle, and the telescopic rod rotates back to the initial position under the action of the spring to realize radial intermittent extension.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the telescopic rod of the present invention;
FIG. 3 is a schematic view of the construction of the piston and camshaft of the present invention;
FIG. 4 is a schematic view of the internal structure of the locking slide of the present invention;
the notation in the figures means: 1-a pressure bar; 2-a button; 3-a piston; 4-a return spring; 5-locking the sliding rod; 6-a camshaft; 7-a housing; 8-a positioning ring; 9-a limit spring; 10-rotating rods; 11-a telescopic rod; 12-a bottom cover; 13-a first upper wedge face; 14-a second upper wedge face; 15-a first lower wedge face; 16-a second lower wedge face; 17-a card slot; 18-a cartridge; 19-horizontal spring.
Detailed Description
The technical solution of the present invention is further described below with reference to the following embodiments and the accompanying drawings.
Example 1
The embodiment provides an extraction device suitable for a power-assisted manipulator, which comprises a pressure lever 1, a button 2, a piston 3, a return spring 4, a locking slide rod 5, a cam shaft 6, a shell 7, a positioning ring 8, a limiting spring 9, a rotating rod 10, a telescopic rod 11, a bottom cover 12 and a horizontal spring 19.
The button 2 is sleeved outside the shell 7 and can slide up and down along the outer wall surface of the shell; in this embodiment, the button 2 is located at the upper end of the housing 7.
The upper end of the pressing rod 1 is fixed on the button 2, for example, a cylindrical protrusion is formed on the top wall of the button 2 along the axial direction thereof, a threaded hole is formed on the cylindrical protrusion along the axial direction of the button 2, an external thread is formed on the upper end of the pressing rod 1, and the pressing rod 1 is fixed on the button 2 by screwing the external thread of the pressing rod 1 into the threaded hole.
The upper end of the shell 7 extends inwards to form an inner flange, the upper end of the piston is limited through the inner flange, and the lower end of the pressure lever 1 penetrates through the inner flange to be in contact with the piston 3 and is used for driving the piston 3 to move up and down.
The locking slide bar 5 is arranged in the shell 7 and fixed on the inner side wall of the shell 7, an upper flange is formed at the upper end of the piston 3, one end of the return spring 4 is arranged at the upper end of the locking slide bar 5, and the other end of the return spring is arranged on the upper flange.
The lower end of the piston 3 is located within the locking slide and is formed with a blind bore such that the upper end of the camshaft 6 can be inserted into the blind bore of the lower end of the piston 3.
The lower end of the piston 3 is formed with a first upper wedge surface 13 and a second upper wedge surface 14, which have the same inclination direction and are centrosymmetric with respect to the axis of the piston 3; the first upper wedge-shaped surface and the second upper wedge-shaped surface are connected end to end, and the angle from the starting point to the end point is 180 degrees; two strip-shaped grooves are formed in the side wall of the piston 3 in the axial direction (vertical direction) of the piston 3, wherein the two strip-shaped grooves correspond to the positions of the first upper wedge-shaped surface and the second upper wedge-shaped surface, respectively, and are made to be centrosymmetric with respect to the axis of the piston 3.
Two clamping blocks are formed on the inner wall of the locking slide bar 5; the fixture block is matched with the strip-shaped groove and can slide in the strip-shaped groove, that is, the motion of the piston 3 is guided by the fixture block, preferably, the lower surface of the fixture block is a wedge-shaped surface, and the inclination direction of the fixture block is the same as that of the first upper wedge-shaped surface 13.
Two clamping grooves are formed in the side wall of the cam shaft 6, the clamping grooves have a certain depth along the axial direction of the cam shaft, the two clamping grooves can be respectively matched with the clamping blocks, when the clamping blocks are located in the clamping grooves, the cam shaft 6 can only move along the axis of the locking slide rod, and therefore (through the matching of the two clamping grooves and the clamping blocks), the cam shaft 6 is fixed at a certain position; when the clamping block is separated from the clamping groove, the cam shaft 6 can move along the axial direction and can rotate relative to the piston 3; in this embodiment, the two slots are arranged in a central symmetry manner (with respect to the center line of the camshaft), and the two slots divide the side wall of the camshaft 6 into two lower teeth, which are respectively matched with the first upper wedge surface and the second upper wedge surface.
A first lower wedge surface 15 and a second lower wedge surface 16 are formed at the upper end of the lower tooth; the turning directions of the first lower wedge surface and the second lower wedge surface are the same, the highest points of the first lower wedge surface and the second lower wedge surface are on the same horizontal plane, the lowest point of the first lower wedge surface is higher than the lowest point of the second lower wedge surface, and the length of the first lower wedge surface is greater than that of the second lower wedge surface.
The upper end of the positioning ring 8 is fixed at the lower end of the locking slide rod 5, the diameter of the lower end of the positioning ring 8 is gradually reduced, the lower end of the camshaft 6 penetrates through the lower end of the positioning ring and is located outside the positioning ring, one end of the limiting spring is fixed on the positioning ring, and the other end of the limiting spring is supported on a shaft shoulder of the camshaft and is sleeved on the camshaft 6.
The lower extreme of camshaft 6 is fixed with dwang 10, in this embodiment, the middle part of dwang 10 is fixed in camshaft 6, and the perpendicular to the camshaft sets up, the both ends of dwang 10 all are provided with the shift fork, the shift fork is along being on a parallel with the axis direction setting of camshaft.
The telescopic rod 11 is in a V shape, the bent part of the telescopic rod is hinged to the bottom cover 12 through a hinge shaft, so that the telescopic rod 11 can rotate around the hinge shaft, one end of the telescopic rod 11 is fixed with one end of a horizontal spring 19, the other end of the horizontal spring 19 is fixed on the inner wall of the shell 7, the horizontal spring is enabled to preset a pulling force, and the telescopic rod 11 is limited at a certain position through the pulling force; in this embodiment, the hinge shaft is parallel to the axis of the cam shaft and perpendicular to the telescopic rod.
The shift fork of dwang 10 with the one end cooperation of telescopic link 11, and when dwang 10 rotated, can drive telescopic link 11 rotates.
A notch is formed at the bottom end of the outer shell 7, and when the telescopic rod 11 rotates, the other end of the telescopic rod 11 can pass through the notch and is positioned outside the outer shell 7; or from the outside of the housing 7.
In this embodiment, the number of the telescopic rods 11 is two, the number of the notches is also two, the bottom cover 12 is fixed to the lower end of the housing 7 by screws, and the two telescopic rods are symmetrically arranged along a plane passing through the central axis of the bottom cover 12.
The working flow of the extraction device suitable for the power-assisted manipulator of the embodiment is as follows:
the button 2 is pressed, the button 2 drives the pressure rod 1 to push the piston 3 to move linearly, the piston 3 pushes the cam shaft 6 to move downwards to the lowest end of the clamping block of the locking slide rod 5, meanwhile, the limiting spring 9 is compressed, and under the restoring force action of the limiting spring 9, the cam shaft 6 rotates for 45 degrees; the button 2 is released, and the cam shaft 6 rotates for 45 degrees; thereby dwang 10 rotates 90, at this in-process, after dwang 10 rotated certain angle, with 11 interact of telescopic link, 11 rotatory certain angles of telescopic link combine the notch realization radial protrusion (retraction) that shell 7 bottom set up. Push button 2 once more, dwang 10 rotates 90 degrees, and at this in-process, after dwang 10 rotated certain angle, dwang 10 and telescopic link 11 break away from the interact state, and telescopic link 11 gets back to initial position under horizontal spring 19's effect, accomplishes radial withdrawal (stretches out). Reciprocating in this way, the axial intermittent expansion can be realized.
The sequence of the above embodiments is only for convenience of description and does not represent the advantages and disadvantages of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. The extraction device suitable for the power-assisted manipulator is characterized by comprising a pressure rod, a button, a piston, a return spring, a locking slide rod, a cam shaft, a shell, a positioning ring, a limiting spring, a rotating rod, a telescopic rod, a bottom cover and a horizontal spring;
the button is sleeved outside the shell and can slide up and down along the outer wall surface of the shell;
the upper end of the pressure lever is fixed on the button; the lower end of the pressure lever is contacted with the piston;
the locking slide bar is arranged in the shell and fixed on the inner side wall of the shell, an upper flange is formed at the upper end of the piston, one end of the return spring is propped against the upper end of the locking slide bar, and the other end of the return spring is propped against the upper flange;
the lower end of the piston is positioned in the locking slide rod, a blind hole is formed, and the upper end of the cam shaft is inserted into the blind hole at the lower end of the piston;
the lower end of the piston is provided with a first upper wedge-shaped surface and a second upper wedge-shaped surface, the inclination directions of the first upper wedge-shaped surface and the second upper wedge-shaped surface are the same, and the first upper wedge-shaped surface and the second upper wedge-shaped surface are centrosymmetric about the axis of the piston; the first upper wedge-shaped surface and the second upper wedge-shaped surface are connected end to end, and the angle from the starting point to the end point is 180 degrees; two strip-shaped grooves are formed in the side wall of the piston along the axial direction of the piston, wherein the two strip-shaped grooves correspond to the positions of the first upper wedge-shaped surface and the second upper wedge-shaped surface respectively, and the two strip-shaped grooves are centrosymmetric with respect to the axis of the piston;
a clamping block is formed on the inner wall of the locking slide rod; the clamping block is matched with the strip-shaped groove; the lower surface of the fixture block is a wedge-shaped surface, and the inclination direction of the fixture block is the same as that of the first upper wedge-shaped surface;
two clamping grooves are formed in the side wall of the cam shaft and matched with the clamping blocks; the two clamping grooves are arranged in a central symmetry manner, the two clamping grooves divide the side wall of the camshaft into two lower teeth, and the two lower teeth are respectively matched with the first upper wedge-shaped surface and the second upper wedge-shaped surface;
a first lower wedge-shaped surface and a second lower wedge-shaped surface are formed at the upper end of the lower tooth; said first lower wedge surface and said second lower wedge surface having the same direction of rotation and the highest points of said first lower wedge surface and said second lower wedge surface being in the same horizontal plane, the lowest point of said first lower wedge surface being higher than the lowest point of said second lower wedge surface and the length of said first lower wedge surface being greater than said second lower wedge surface,
the upper end of the positioning ring is fixed at the lower end of the locking slide rod, the diameter of the lower end of the positioning ring is gradually reduced, the lower end of the camshaft penetrates through the lower end of the positioning ring and is positioned outside the positioning ring, one end of the limiting spring is fixed on the positioning ring, and the other end of the limiting spring is propped against a shaft shoulder of the camshaft and is sleeved on the camshaft;
a rotating rod is fixed at the lower end of the cam shaft, the middle part of the rotating rod is fixed on the cam shaft and is perpendicular to the cam shaft, and two ends of the rotating rod are provided with shifting forks which are arranged along the direction parallel to the axis of the cam shaft;
the bottom cover is fixed at the lower end of the shell, the telescopic rod is in a V shape, the bending part of the telescopic rod is hinged to the bottom cover through a hinged shaft, one end of the telescopic rod is fixed with one end of a horizontal spring, and the other end of the horizontal spring is fixed on the inner wall of the shell;
the shifting fork of the rotating rod is matched with one end of the telescopic rod, and the telescopic rod is driven to rotate when the rotating rod rotates;
a notch is formed at the bottom end of the outer shell, and when the telescopic rod rotates, the other end of the telescopic rod penetrates through the notch and is positioned outside the outer shell; or from the outside of the housing.
2. The extraction apparatus suitable for a power assisted manipulator according to claim 1, wherein the upper end of the housing is formed with an inner flange extending inwardly, and the upper end of the piston is retained by the inner flange; the lower end of the pressure lever penetrates through the inner flange and is in contact with the piston to drive the piston to move up and down.
3. The extraction apparatus adapted for a power assisted robot according to claim 1, wherein the angle of the first lower wedge surface from the start point to the end point is 90 °, the angle of the second lower wedge surface from the start point to the end point is 45 °, and the angle of the slot from the start point to the end point is 45 °, such that the first lower wedge surface, the second lower wedge surface and the slot together make up 180 °.
4. The extraction apparatus adapted for a power assisted manipulator of claim 1, wherein the number of the telescopic rods is two, and the two telescopic rods are symmetrically disposed along a plane passing through a central axis of the bottom cover.
5. The extraction device adapted to be used in a power assisted manipulator according to claim 1, wherein the number of the notches is two and is set corresponding to the position of the other end of the telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910067109.XA CN109630650B (en) | 2019-01-24 | 2019-01-24 | Extraction element suitable for power-assisted manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910067109.XA CN109630650B (en) | 2019-01-24 | 2019-01-24 | Extraction element suitable for power-assisted manipulator |
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| Publication Number | Publication Date |
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| CN109630650A CN109630650A (en) | 2019-04-16 |
| CN109630650B true CN109630650B (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910067109.XA Active CN109630650B (en) | 2019-01-24 | 2019-01-24 | Extraction element suitable for power-assisted manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3205863A (en) * | 1953-12-29 | 1965-09-14 | Parker Pen Co | Writing instrument |
| CN1664409A (en) * | 2004-03-02 | 2005-09-07 | 任宏宇 | Barrel wall type sheave mechanism for three dimensional vertical axes rotation transmission |
| CN201060768Y (en) * | 2007-06-29 | 2008-05-14 | 黄炳棠 | Pressing switch for cars |
| CN105480905A (en) * | 2016-01-06 | 2016-04-13 | 潘玲玉 | Push device driven by sheave |
-
2019
- 2019-01-24 CN CN201910067109.XA patent/CN109630650B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3205863A (en) * | 1953-12-29 | 1965-09-14 | Parker Pen Co | Writing instrument |
| CN1664409A (en) * | 2004-03-02 | 2005-09-07 | 任宏宇 | Barrel wall type sheave mechanism for three dimensional vertical axes rotation transmission |
| CN201060768Y (en) * | 2007-06-29 | 2008-05-14 | 黄炳棠 | Pressing switch for cars |
| CN105480905A (en) * | 2016-01-06 | 2016-04-13 | 潘玲玉 | Push device driven by sheave |
Non-Patent Citations (2)
| Title |
|---|
| 按动笔的原理究竟是什么？棘轮如何工作的？;Coremint;《哔哩哔哩：https://www.bilibili.com/video/BV1gW41117D3?from=search&seid=12673646477865037609》;20181009;第1-2页 * |
| 按压式圆珠笔内部运动详解;涉猎客;《搜狐：https://www.sohu.com/a/122927614_589883》;20161229;第1-6页 * |
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